change lidar_radar_fusion_cnn.

src/fusion/lidar_radar_fusion_cnn/lidarbuffer.cpp

@@ -119,7 +119,7 @@ void lidarbuffer::ChangePos(iv::lidarobj_rec * xrec)
 
     double hdg = (90 - xgpsimu.heading())*M_PI/180.0;
 
-    double fsr = hdg + M_PI/2.0;
+    double fsr = hdg - M_PI/2.0;
     double x_sensor = mfLidarOffX * cos(fsr) - mfLidarOffY * sin(fsr);
     double y_sensor = mfLidarOffX * sin(fsr) + mfLidarOffY * cos(fsr);
 
@@ -298,7 +298,7 @@ int lidarbuffer::FilterLidarObj(iv::lidar::objectarray & xobjarray)
             x_rel = x_abs - xrec.sensor_x;
             y_rel = y_abs - xrec.sensor_y;
 
-            double fsr = 0 - M_PI/2.0 - xrec.sensor_hdg;
+            double fsr = 0 + M_PI/2.0 - xrec.sensor_hdg;
 
             double x_raw =   x_rel * cos(fsr) - y_rel * sin(fsr);
             double y_raw =   x_rel * sin(fsr) + y_rel * cos(fsr);